shadow_planning.hpp

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//
// Created by kganguly on 5/3/19.
//

#pragma once

#include <shadowlibs/shadow_hand.hpp>

namespace shadow_planning {
geometry_msgs::Pose getRandomPose(
    moveit::planning_interface::MoveGroupInterface &move_group_interface,
    std::string &frame_name);

bool planToNamedTarget(
    shadow_planning::PlanningOptions &options,
    moveit::planning_interface::MoveGroupInterface &move_group_interface,
    std::string &target_name,
    moveit::planning_interface::MoveGroupInterface::Plan &plan);

bool planToNamedTarget(shadow_finger::Finger &finger, std::string &target_name);

bool planToPoseTarget(
    shadow_planning::PlanningOptions &options,
    moveit::planning_interface::MoveGroupInterface &move_group_interface,
    geometry_msgs::Pose &target_pose, std::string &reference_frame,
    moveit::planning_interface::MoveGroupInterface::Plan &plan,
    std::string &end_effector_name);

bool planToJointTargets(
    shadow_planning::PlanningOptions &options,
    moveit::planning_interface::MoveGroupInterface &move_group_interface,
    std::string &reference_frame,
    moveit::planning_interface::MoveGroupInterface::Plan &plan,
    std::map<std::string, double> &joint_targets);

void moveFingerJoints(shadow_finger::Finger &finger,
                      std::vector<double> &targetJointAngles);

bool executePlan(std::vector<ros::Publisher> &controller_pubs,
                 moveit::planning_interface::MoveGroupInterface::Plan &plan);

bool executePlan(shadow_finger::Finger &finger);

void executePlanAsync(shadow_finger::Finger &finger);

void executePlanAsync(shadow_hand::Hand &hand);
}; // namespace shadow_planning